[go: up one dir, main page]

WO2000064736A1 - Vehicule aerien telepilote a rotors contrarotatifs carenes et a helices propulsives carenees - Google Patents

Vehicule aerien telepilote a rotors contrarotatifs carenes et a helices propulsives carenees Download PDF

Info

Publication number
WO2000064736A1
WO2000064736A1 PCT/US2000/009745 US0009745W WO0064736A1 WO 2000064736 A1 WO2000064736 A1 WO 2000064736A1 US 0009745 W US0009745 W US 0009745W WO 0064736 A1 WO0064736 A1 WO 0064736A1
Authority
WO
WIPO (PCT)
Prior art keywords
fuselage
duct
unmanned aerial
aerial vehicle
shroud
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2000/009745
Other languages
English (en)
Inventor
James Cycon
Mark W. Scott
Christopher W. Dewitt
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sikorsky Aircraft Corp
Original Assignee
Sikorsky Aircraft Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sikorsky Aircraft Corp filed Critical Sikorsky Aircraft Corp
Priority to EP00942624A priority Critical patent/EP1173360A1/fr
Priority to AU57221/00A priority patent/AU5722100A/en
Priority to JP2000613701A priority patent/JP2002542116A/ja
Priority to IL14607400A priority patent/IL146074A0/xx
Publication of WO2000064736A1 publication Critical patent/WO2000064736A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/25—Fixed-wing aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/10—Wings
    • B64U30/12—Variable or detachable wings, e.g. wings with adjustable sweep
    • B64U30/14—Variable or detachable wings, e.g. wings with adjustable sweep detachable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/29—Constructional aspects of rotors or rotor supports; Arrangements thereof
    • B64U30/294—Rotors arranged in the UAV body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/13—Propulsion using external fans or propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/13—Propulsion using external fans or propellers
    • B64U50/14—Propulsion using external fans or propellers ducted or shrouded

Definitions

  • Unmanned Aerial Vehicle ⁇ (Attorney Docket No. 8774-54).
  • the present invention relates to unmanned aerial vehicles (UAVs).
  • UAVs unmanned aerial vehicles
  • VTOL vertical takeoff and landing
  • UAV configurations There are generally three types of UAV configurations under current development, a fixed-wing type configuration (a fuselage with wings and horizontally mounted engines for translational flight), helicopter type configuration (a fuselage with
  • a wing-type UAV provides several benefits over a helicopter or ducted type UAV. First, and foremost, is the ability of a winged UAV to travel at considerably greater speeds and for longer distances than a conventional helicopter or ducted type UAV. Also, a winged UAV can typically carry a larger mission payload and/or fuel supply than a helicopter or ducted type UAV. As such, fixed-wing
  • UAVs are generally better suited than helicopter or ducted type UAVs for certain mission profiles involving endurance, distance, higher speed and load capability.
  • Winged UAVs have deficiencies that limit their utility. For example, since winged UAVs require forward motion to maintain lift and therefore are
  • winged UAVs are not very good at delivering ordinance or laser designating targets. Also, winged UAVs cannot take-off and land vertically. Instead, winged UAVs require elaborate launch and retrieval equipment.
  • Helicopter UAVs can hover over a fixed spatial point and takeoff and land vertically but have limitations when operating in confined areas due to the exposed rotors rotating above the fuselage. Also, helicopter UAVs tend to have a high center-of- gravity (CG) and therefore have limited ability when landing on sloped surfaces or pitching ship decks. A high CG aircraft tends to roll over when landing on steep slopes.
  • CG center-of- gravity
  • ducted rotor-type UAVs take-off and land vertically, combined with their ability to hover for extended periods of time over a point and operate in confined areas off steep slopes, make a ducted type UAVs ideally suited for real time tactical reconnaissance, target acquisition, surveillance, and ordnance delivery missions for front line tactical units.
  • Ducted-type UAVs such as the CYPHER 7 unmanned aerial vehicle
  • the aircraft fuselage When fore-aft or lateral movement of the aircraft is desired, the aircraft fuselage must be Anosed-down@ as
  • ducted-type UAVs have a relatively slow speed as compared to winged UAVs.
  • the rotor system must provide both vertical and translational thrust, thus, requiring the full potential of the rotor system to be split.
  • An object of the present invention is to provide an unmanned aerial vehicle which is capable of vertical take off and landing in addition to high-speed flight.
  • the unmanned aerial vehicle includes a fuselage with a partial toroidal forward portion, and an aft portion.
  • a duct is formed through the fuselage and extends from the top to the bottom of the fuselage.
  • Two counter-rotating rotor assemblies are mounted within the duct for providing downward thrust through the duct.
  • the rotor assemblies are supported by a plurality of support struts.
  • At least one engine is mounted within the fuselage and engages with the rotor assemblies.
  • the aforementioned devices give the invention its hover and low speed capabilities.
  • the aft fuselage fairing is operative for reducing drag on the aircraft to
  • a pusher prop assembly is mounted to the aft end of the aft fuselage.
  • the pusher prop is designed to provide forward thrust along the longitudinal axis of the aircraft in high-speed flight, a capability not achievable with rotor tilt angle.
  • the pusher prop assembly includes a drive shaft which is engaged with the engine.
  • a plurality of propellers are attached to and rotated by the drive shaft.
  • a shroud is mounted to the aft portion of the fuselage around the propeller and is operative for channeling air passing through the propeller in a substantially aft direction.
  • One or more airflow flow directional vanes are attached within the shroud aft of the propellers. These vanes function as conventional elevators in high-speed flight and as propeller thrust vectoring devices in low speed transition flight. Wings are attached to the fuselage to provide the aircraft lift in high-speed flight. Each wing or a portion thereof is pivotable with respect to the fuselage. In one
  • the wing includes a fixed portion and the pivotal portion of the wing is a flaperon which is hinged to the fixed portion.
  • the wings in the present invention reduce the nose up pitching moment and increase aircraft nose down pitching moment by creating a lift component on the aircraft aft of the rotor shaft. This is facilitated by controlling the flaperons on the wings.
  • the flaperons start at about 45 degrees trailing edge down and remain fully deflected until 40 kts. The flaperons are then gradually retracted as speed increases.
  • thrust augments the nose-down pitching moment created by the wings by providing
  • the UAV according to the present invention is a synergistic combination of a fuselage, a wing, and a shrouded pusher prop assembly. Locating the prop assembly at the aft most point of the fuselage fairing and enclosing the propeller in a shroud provides many unique advantages. For example, the aft prop assembly location facilitates transition from hover flight mode to forward flight mode. A location forward of the rotor shaft would aggravate transition control by either creating a negative lift if thrust were vectored upwards, or creating additional nose up pitching moment if the prop thrust were vectored downwards.
  • the aft fairing or fuselage also facilitates high-speed flight. If the prop assembly were mounted in the front of the aircraft additional structure and its associated
  • the nose of the aircraft is a very desirable location for sensors and other unmanned air vehicle payloads. Hence, a nose
  • running provides high speed flight stability in the pitch and yaw directions, provides an efficient mount location for the flow directional vanes, augments propeller thrust vectoring, and reduces propeller noise.
  • Another aspect of the invention is the interface between the fuselage and wing.
  • the fairing emanating aft of the semi-toroidal fuselage portion has a straight edge on the left and right sides. This allows for a simple straight mating surface between the wing and fuselage. This simplifies wing attachment and removal. Frequently wing location has to be modified based on early flight test results.
  • the straight edge interface has the distinct advantage of allowing the wing and its attachment point to be slid forward
  • An additional aspect of the invention is the drag reduction benefit of the rotors.
  • Past attempts at high speed ducted rotor aircraft have used rigid retractable covers to conceal the rotor system and reduce drag. Such covers are relatively heavy and complex.
  • the aircraft is in a near level body attitude.
  • the rotors in the duct operate with nearly a flat pitch. It has been found that the rotors create virtual covers when in near flat pitch. Airflow is impeded and does not flow through the duct. By blocking the flow and forcing it to flow over and under the aircraft, drag is reduced without the weight and complexity of rigid covers.
  • the virtual covers reduce the drag on the aircraft by about one half as much as two rigid covers.
  • one or more deflectors may be mounted to the bottom of the fuselage across a portion of the duct to control airflow into the duct from the bottom of the fuselage during forward flight. These deflectors are passive and require no actuation. They are opened and closed automatically based on the airflow through and over the duct.
  • Figure 1A is a schematic representation of a prior rotor-type unmanned vehicle
  • Figure IB is a schematic representation of a prior rotor-type unmanned vehicle
  • Figure 2 is a perspective view of an unmanned aerial vehicle according to
  • Figure 3 is a perspective view of one embodiment of the unmanned aerial vehicle in Figure 2 illustrating many of the internal components.
  • Figure 4A is a schematic representation of the unmanned aerial vehicle according to the present invention during hover.
  • Figure 4B is a schematic representation of the unmanned aerial vehicle according to the present invention during forward translational flight.
  • Figure 5 is a schematic representation of a preferred embodiment of the unmanned aerial vehicle according to the present invention.
  • Figure 6 is a perspective view of one embodiment of the unmanned aerial
  • FIG. 2 illustrates a perspective view of one embodiment of an unmanned aerial vehicle (UAV) 10 according to the present invention.
  • the UAV 10 includes a fuselage 12 with a toroidal portion 14 having a generally hemicylindrical aerodynamic profile.
  • a rotor assembly 16 is mounted within a duct 18 that extends substantially vertically through the fuselage 12.
  • struts 20 extend between the fuselage and the rotor assembly 16. In the preferred embodiment illustrated in the figures, there are three struts 20 mounted in the fuselage 12.
  • the support struts 20 are rigidly attached to the rotor assembly 16 and the fuselage 12, and are operative for supporting the rotor assembly 16 in a fixed co-axial relation with respect to the duct 18.
  • the support struts 20 also provide structural rigidity to the aircraft
  • the support struts 20 are preferably formed as hollow structures that can be used as conduits for interconnecting operating elements
  • the engine drive shaft (identified by the numeral 36 is
  • FIG 3 is routed through one of the support struts 20.
  • the electrical wiring for various operating components in the aircraft 10 may be routed through the other
  • the fuselage 12 and the plurality of support struts 20 can be made from various types of high tensile strength materials, such as composite and metal.
  • the fuselage 12 includes a plurality of accessible internal bays (shown in Figure 3) for housing and/or storing aircraft flight and mission components. For example, referring to FIG 3)
  • the compartments may be used to house a powe ⁇ lant subsystem 22, including fuel tanks 24, flight control equipment 26 including data transmitters and receivers, a power conditioning unit 28, and sensors 66, such as a forward looking infrared radar (FLIR) sensor.
  • a powe ⁇ lant subsystem 22 including fuel tanks 24, flight control equipment 26 including data transmitters and receivers, a power conditioning unit 28, and sensors 66, such as a forward looking infrared radar (FLIR) sensor.
  • FLIR forward looking infrared radar
  • engines are mounted within the bays and the avionics equipment is mounted in the aft fuselage.
  • various components are preferably positioned within the compartments to balance the aircraft about the center of the rotor assembly.
  • the powe ⁇ lant subsystem 22 includes one or more fuel tanks 24, an engine 30, a drive train assembly 32, and a cooling fan 34.
  • the fuel tanks 24 are disposed within appropriate internal bays, preferably in opposed equipment bays to maintain a relatively constant center of gravity for the UAV 10 during flight operations.
  • a drive train assembly 32 is operative for transferring power developed by the engine 30 to the rotor assembly 16 by means of a drive shaft 36.
  • the drive train assembly 32 may be of the type disclosed in commonly-owned, U.S. Pat. No.
  • each engine 30 is preferably mounted forward of a fuel tank 24.
  • Mufflers 31 can be mounted adjacent to each engine 30 to reduce engine noise levels.
  • the engines 30 are each engaged with the rotor system 16 by means of a drive shaft 36 that extends through a support strut 20.
  • the shafts 36 are preferably constructed of thin-wall aluminum tube for high strength and low
  • Flex couplings (not shown) are used to attach the shaft 36 to the engine 30 and the rotor assembly 16 to permit angular misalignment while transmitting torque.
  • the two engine embodiment shown in Figure 5 allows the aircraft to continue to operate in the event of an engine failure.
  • An overrunning clutch is inco ⁇ orated into the system to automatically disengage an inoperative engine from the
  • the engines 30 are preferably mounted to the airframe with four shock mounts. In light of the location of the engine mounts in the front of the airframe, the mounts can also be used to support the landing gear.
  • a cross-feed line 102 is preferably attached to each fuel tank to allow fuel
  • the rotor assembly 16 includes a pair of multi-bladed, counter-rotating
  • the rotors 38, 40 coaxially aligned with the centerline of the duct 18, and a coaxial transmission subassembly (not shown).
  • the coaxial transmission subassembly may be of the type disclosed in commonly-owned, co-pending U.S. Pat. No. 5,226,350.
  • the rotors 38, 40 are aerodynamically "shrouded" by the fuselage 12.
  • the counter-rotating rotors 38, 40 are preferably of the rigid rotor type (as opposed to articulated rotors) to reduce the complexity and weight of the rotor assembly 16.
  • Each counter-rotating rotor 38, 40 preferably includes a plurality of blade assemblies, which may be of the type disclosed in commonly-owned, co-pending U.S. Pat. No.
  • the blades on the blade assemblies are rigid hingeless metal blades.
  • the hingeless metal design is aerodynamically efficient, less costly than a composite blade, allows for additional control authority, and is less susceptible to foreign object damage.
  • the blades preferably
  • the blade can be made from wood with a metal
  • the blades can also be tapered in chord and airfoil thickness from root to tip depending upon mission application.
  • the blade tip speed of the rotor system is preferably about 62500 fps. This blade tip speed results in a rotor system that has low noise and reduced structural weight.
  • the pitch of the rotors can be adjusted to control the airflow over the shroud 12 and into the rotor assembly 16. Such control of the airflow can create a lifting component on the shroud 12 that augments the lift provided by the counter-rotating rotors 38, 40.
  • wings 42 are attached to and extend laterally outward from the sides of the aircraft fuselage 12. More particularly, the fuselage 12, in addition to its toroidal portion 14 that surrounds a portion of the duct 18, includes an aft fuselage portion 44 or empennage (also referred to herein as a fairing).
  • the aft fuselage 44 tapers as it extends rearwardly from the toroidal portion 14 of the shroud 12.
  • the wings 42 are preferably attached to the aft fuselage 44 at approximately its midplane.
  • the aerodynamic configuration of the wings 42 of the UAV 10 is selected to provide high lifting forces and a large nose-down pitching moment in forward translational flight.
  • the wings 42 have a low aspect ratio so that the UAV 10 is maintained at a reasonable size.
  • the wings 42 preferably taper outward from the fuselage 12.
  • Each wing 42 preferably has a symmetric or low camber airfoil section.
  • At least a portion of the wings 42 is pivotally mounted so that the angle of attack of the wings 42 can be varied depending on the aircraft-s mission.
  • the entire wing 42 could be pivotally mounted to the airframe.
  • the wings 42 would then be angled so as to provide additional lift when the aircraft is in a Iciter mode of operation. Conversely, the wings 42 would be highly angled if the mission requires a high degree of maneuverability.
  • an actuator 45 is mounted within the fuselage 12 near each wing 42. The actuator 45 is engaged with a drive rod 46 that
  • the actuator 45 is preferably an electrical servo that is controlled by signals from an onboard computer thai regulates the amount that the actuator rotates the drive rod 46 about its longitudinal axis. The rotation of the drive rod 46 changes the angle of attack of the wing 42. As is shown in the illustrated embodiment, there are two actuators 45, one for concrolling each wing 42. This allows the wings 42
  • each wing 42 includes a fixed stub portion 42 F and a pivotal portion 42 P .
  • the pivotal portion 42p preferably includes a flaperon hingedly mounted to the trailing edge of the wing 42.
  • the pivotal portion 42p preferably has a deflection range from about 45 degrees trailing edge down to about 15 degrees trailing edge up.
  • the pivotal portion 42p also includes a pivotal tip end or cap 42 ⁇ which functions as an aerodynamic and mass balance to facilitate flap actuation. The pivoting tip end reduces control loads on
  • the actuator 45 by approximately 55%, thereby increasing actuator life and reliability.
  • the wings 42 are preferably removably attached to the fuselage 12. This permits operational personnel to detach the wings 42 from the fuselage 12 during storage or transit. The wings 42 are then reattached to the fuselage 12 prior to use.
  • the wings are mounted using conventional bolts or quick disconnect couplings. Since the actuator 45 is mounted within the fixed portion 42 F of the wing in the embodiment of the invention shown in Figure 5, only electrical control lines need to
  • the UAV fuselage 12 connects from the UAV fuselage 12 to the wing 42. It is contemplated that wings with different geometries and aerodynamic characteristics can be attached to the airframe 12 depending on the specific aircraft mission. Also the fuselage 44 has a straight or flat interface surface on the left and right sides which forms a mating surface for the wing.
  • This smooth flat surface simplifies wing attachment and removal.
  • the UAV 10 includes a pusher prop 50 mounted to the rear of the aircraft 10. More particularly, the pusher prop (or
  • the propeller 50 is mounted to the rear of the aircraft with its rotational axis oriented substantially horizontal.
  • the pusher prop 50 includes a plurality of blades 56, which in the illustrated embodiment there are two blades 56 with a diameter of about 20 inches.
  • the propeller 50 is mounted to a drive shaft 58 which, in turn, is engaged with a power unit.
  • the power unit which drives the propeller 50 is the engine 30 that is used to power the rotor assembly 16.
  • the propeller drive shaft 58 is engaged with the engines 30 though the rotor systems gearbox.
  • a flexible coupling is inco ⁇ orated between the gearbox and the drive shaft 58 to allow for shaft misalignments.
  • the propeller 50 operates at about 7000 RPM and preferably is of a hingeless rigid design.
  • the blades 56 are mounted so that the collective pitch of the blades can be controlled.
  • the propeller is designed with reverse pitch capability.
  • the propeller 50 in the preferred embodiment is designed with a tip speed of about 637 fps but it could be operated at any
  • a prop shroud 54 is formed on the aft fuselage 44 around the pusher prop
  • the cross-sectional shape of the shroud 54 is preferably configured as an airfoil to provide the shroud 54 with some lift.
  • the shroud 54 also protects the
  • vanes 60 Mounted on the shroud 54 aft of the pusher prop 50 are one or more directional vanes 60.
  • the vanes 60 are configured to direct the exhaust from the pusher prop 50 in a particular direction.
  • the vanes 60 are pivotally mounted to the shroud 54 aft of the pusher prop 50.
  • the shroud 54 to permit the exhausted air to be channeled in a controllable manner. For example, during transition it is desirable to angle the vanes 60 so as to channel the air downwardly, thereby augmenting the vertical iift provided by the rotor assembly 16. In high-speed flight, the vanes 60 function as elevators on the aircraft to provide pitch control for the vehicle.
  • the aft fuselage 44 preferably has a contour which assists in channeling the air into the pusher prop 50.
  • the top surface of the aft fuselage 44 angles downwardly toward the shroud 54.
  • the lower surface of the aft fuselage 44 angles upward toward the shroud 54. This results in a channeling of the airflow into the pusher prop 50.
  • the UAV 10 reduces the drag caused during forward flight by controlling the flow of air into the duct 18. Referring to Figure 4 A, the UAV 10 is shown in its vertical takeoff and hover mode with the airflow 70 funneling downward through
  • FIG. 4B illustrates the UAV 10 according to the present invention in high-speed flight. As shown, the
  • the rotors 38, 40 are adjusted so as to have approximately zero pitch, i.e., substantially flat pitch. At near zero pitch, the rotational speed of the rotors 38, 40 create a virtual plane 62 across the top and
  • This virtual plane 62 which is coplanar with the rotors 38,40, deflects the air passing over and under the vehicle away from the duct 18. As a result, the passing air does not impact the rear wall of the duct D - Instead, the air is channeled into the pusher prop 50.
  • the benefits of the virtual plane 62 are primarily present at flight speeds where the
  • the present invention inco ⁇ orates one or more deflectors 64 on the lower surface of the aircraft.
  • the deflectors prevent airflow from entering the duct 18 from the lower surface of the UAV 10. Referring to Figures 4 A and 4B, the UAV 10 is shown with deflectors 64 mounted to the lower surface of the
  • the deflectors 64 are attached to the aircraft via hinges and are free to pivot.
  • the low speed flight control and flying qualities of a UAV according to the present invention are similar to those described in U.S. Pat 5,152,478.
  • the high speed control and flying qualities of the UAV 10 are similar to conventional fixed wing aircraft.
  • the pivotable flap portions on the wings act as ailerons for providing roll control.
  • the rotor assemblies, flaperons and pusher prop In order to transition the UAV 10 from hover flight mode to forward flight mode, the rotor assemblies, flaperons and pusher prop must be controlled to blend low speed rotor control into high-speed wing and elevator control. The following is a discussion of one very efficient transition profile.
  • the aircraft is capable of flying in
  • transition mode anywhere from zero to 20 degrees of body attitude.
  • the UAV 10 is pitched about five degrees nose down.
  • the aircraft begins to rotate nose up.
  • the aircraft reaches 10 degrees angle of attack upon reaching 20 kts.
  • the aircraft remains at 10 degrees angle of attack out to 55 kts.
  • the UAV according to the present invention is capable of zero degree flaperon wing borne flight at 55 kts and will begin to nose down as speed is further

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Remote Sensing (AREA)
  • Toys (AREA)
  • Structures Of Non-Positive Displacement Pumps (AREA)

Abstract

L'invention concerne un véhicule aérien télépiloté qui inclut un fuselage (12) présentant une partie avant partiellement toroïdale et une partie arrière. Un conduit (18), qui est formé dans le fuselage, s'étend du sommet à la partie inférieure du fuselage. Deux ensembles à rotors contrarotatifs (16) sont montés à l'intérieur du conduit de manière à assurer une traction vers le bas à travers le conduit. Les ensembles à rotors sont supportés par une pluralité de mâts de support (20). Au moins un moteur monté à l'intérieur du fuselage peut s'accoupler aux ensembles à rotors. Un ensemble à hélices propulsives (50) est monté dans la partie arrière du fuselage. Cet ensemble est conçu pour assurer une traction vers l'avant le long de l'axe longitudinal de l'aéronef. L'ensemble à hélices propulsives comporte un arbre d'entraînement (58) qui est accouplé au moteur. Une pluralité d'hélices (56) sont fixées à l'arbre d'entraînement et actionnées en rotation par celui-ci. Un carénage (54), qui est monté sur la partie arrière du fuselage autour des hélices, sert à assurer la canalisation de l'air passant sur les hélices, sensiblement en direction de l'arrière. Deux ailes (42) sont fixées de manière amovible sur les côtés du fuselage. Chaque aile comprend de préférence une partie fixe et une partie pivotante à effet de flaperon, articulée à la partie fixe. Des aubes orientées (60), qui sont de préférence montées sur le carénage, en aval des hélices, régulent le flux en sortie du carénage. Des déflecteurs, qui sont montés sur la partie inférieure du fuselage, sur une partie du conduit, régulent le flux de l'air entrant dans le conduit.
PCT/US2000/009745 1999-04-22 2000-04-12 Vehicule aerien telepilote a rotors contrarotatifs carenes et a helices propulsives carenees Ceased WO2000064736A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP00942624A EP1173360A1 (fr) 1999-04-22 2000-04-12 Vehicule aerien telepilote a rotors contrarotatifs carenes et a helices propulsives carenees
AU57221/00A AU5722100A (en) 1999-04-22 2000-04-12 Unmanned aerial vehicle with counter-rotating ducted rotors and shrouded pusher-prop
JP2000613701A JP2002542116A (ja) 1999-04-22 2000-04-12 反転ダクトロータとシュラウド付き推進プロペラを有する無人航空機
IL14607400A IL146074A0 (en) 1999-04-22 2000-04-12 Unmanned aerial vehicle with counter-rotating ducted rotors and shrouded pusher-prop

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US09/296,624 1999-04-22
US09/296,624 US6270038B1 (en) 1999-04-22 1999-04-22 Unmanned aerial vehicle with counter-rotating ducted rotors and shrouded pusher-prop

Publications (1)

Publication Number Publication Date
WO2000064736A1 true WO2000064736A1 (fr) 2000-11-02

Family

ID=23142817

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2000/009745 Ceased WO2000064736A1 (fr) 1999-04-22 2000-04-12 Vehicule aerien telepilote a rotors contrarotatifs carenes et a helices propulsives carenees

Country Status (6)

Country Link
US (1) US6270038B1 (fr)
EP (1) EP1173360A1 (fr)
JP (1) JP2002542116A (fr)
AU (1) AU5722100A (fr)
IL (1) IL146074A0 (fr)
WO (1) WO2000064736A1 (fr)

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6431494B1 (en) 2001-07-17 2002-08-13 Sikorsky Aircraft Corporation Flight control system for a hybrid aircraft in the roll axis
US6478262B1 (en) 2001-07-17 2002-11-12 Sikorsky Aircraft Corporation Flight control system for a hybrid aircraft in the yaw axis
GB2379915A (en) * 2001-07-03 2003-03-26 Bae Systems Plc Unmanned aerial vehicle (UAV) with detachable wings
JP2004268640A (ja) * 2003-03-05 2004-09-30 Toyota Motor Corp 小型飛行装置
CN101746507A (zh) * 2008-12-12 2010-06-23 霍尼韦尔国际公司 用于函道风扇式无人空中系统的混合动力
US8727266B2 (en) 2008-05-30 2014-05-20 Gilo Industries Limited Flying machine comprising twin contra-rotating vertical axis propellers
EP3112261A1 (fr) * 2015-06-30 2017-01-04 Kabushiki Kaisha TOPCON Système de détection de zone étendue, procédé de détection de vol et support non transitoire lisible par ordinateur stockant un programme de système de détection de zone étendue
GB2555439A (en) * 2016-10-27 2018-05-02 Mono Aerospace Ip Ltd Vertical take-off and landing aircraft and control method
CN108100252A (zh) * 2018-01-19 2018-06-01 北京韩品航通科技发展有限公司 一种三桨涵道式倾转双模飞行无人机
RU2662600C2 (ru) * 2016-11-30 2018-07-26 Алексей Сергеевич Вишневский Автолет (летающий автомобиль) (варианты)
EP3354566A1 (fr) * 2017-01-26 2018-08-01 AIRBUS HELICOPTERS DEUTSCHLAND GmbH Unité de propulsion avec deux rotors et un carénage
US10095226B1 (en) 2008-02-12 2018-10-09 Drone-Control, Llc Radio controlled aircraft, remote controller and methods for use therewith
CN110294116A (zh) * 2018-03-22 2019-10-01 极光飞行科学公司 用于降低螺旋桨噪声的系统和方法
RU197835U1 (ru) * 2019-12-27 2020-06-02 Федеральное государственное унитарное предприятие "Центральный аэрогидродинамический институт имени профессора Н.Е. Жуковского" (ФГУП "ЦАГИ") Беспилотный летательный аппарат вертикального взлёта и посадки
US10737766B2 (en) 2017-01-26 2020-08-11 Airbus Helicopters Deutschland GmbH Thrust producing unit with at least two rotor assemblies and a shrouding
US10814966B2 (en) 2015-05-25 2020-10-27 Dotterel Technologies Limited Shroud for an aircraft
WO2021053407A1 (fr) * 2019-09-18 2021-03-25 Uab "Sg Consulting Baltics&By" Aéronef à hélices multiples
US11052998B2 (en) 2015-12-21 2021-07-06 Airbus Helicopters Deutschland GmbH Multirotor electric aircraft with redundant security architecture
US11097828B2 (en) 2017-07-24 2021-08-24 Dotterel Technologies Limited Shroud
US11220325B2 (en) 2017-02-27 2022-01-11 Airbus Helicopters Deutschland GmbH Thrust producing unit with at least two rotor assemblies and a shrouding
WO2022074405A1 (fr) 2020-10-09 2022-04-14 Blue Bear Systems Research Limited Propulseur à soufflante carénée électrique
CN114735218A (zh) * 2022-04-12 2022-07-12 江苏信博建设项目管理有限公司 一种基于无人机的三维地形测绘装置
US11721352B2 (en) 2018-05-16 2023-08-08 Dotterel Technologies Limited Systems and methods for audio capture
CN118637086A (zh) * 2024-08-01 2024-09-13 中国人民解放军陆军指挥学院 单倾斜操纵的共轴双旋翼无人机
RU2836223C1 (ru) * 2024-07-23 2025-03-11 Федеральное государственное бюджетное учреждение "Национальный исследовательский центр "Институт имени Н.Е. Жуковского" Вентиляторный движитель с электроприводом
US12304626B2 (en) 2022-10-28 2025-05-20 Airbus Helicopters Deutschland GmbH Rotorcraft with a ducted tail rotor supported by a stator

Families Citing this family (178)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19835385B4 (de) * 1998-08-05 2007-08-16 Uli Streich Modellhubschrauber
EP1144249B1 (fr) * 1998-12-11 2003-09-03 Moller International, Inc. Dispositif stabilisateur de commande pour plate-forme volante robotisee ou telecommandee
IL138695A (en) * 2000-09-26 2004-08-31 Rafael Armament Dev Authority Unmanned mobile device
US6848649B2 (en) 2000-10-03 2005-02-01 Charles Gilpin Churchman V/STOL biplane aircraft
US6464166B1 (en) * 2001-05-29 2002-10-15 Romeo Yankee Ltd. Ducted fan vehicles particularly useful as VTOL aircraft
WO2002098732A2 (fr) 2001-06-04 2002-12-12 Romeo Yankee Ltd. Vehicules specialement indiques comme vehicules a decollage et atterrissage verticaux
AU2002354809A1 (en) * 2001-07-06 2003-01-21 The Charles Stark Draper Laboratory, Inc. Vertical takeoff and landing aerial vehicle
US6575401B1 (en) * 2001-08-07 2003-06-10 Howard J. Carver Vertical-lift and horizontal flight aircraft
US6474603B1 (en) * 2001-09-25 2002-11-05 Sikorsky Aircraft Corporation Flight control system for a hybrid aircraft in the pitch axis
US6592071B2 (en) * 2001-09-25 2003-07-15 Sikorsky Aircraft Corporation Flight control system for a hybrid aircraft in the lift axis
US6886776B2 (en) 2001-10-02 2005-05-03 Karl F. Milde, Jr. VTOL personal aircraft
US6845942B2 (en) * 2002-02-21 2005-01-25 Marius A. Paul Omni-directional air vehicle personal transportation system
US6575402B1 (en) 2002-04-17 2003-06-10 Sikorsky Aircraft Corporation Cooling system for a hybrid aircraft
WO2004012993A1 (fr) * 2002-08-05 2004-02-12 Urban Aeronautics Ltd. Vehicules a decollage et a atterrissage verticaux
AU2003304119A1 (en) * 2002-08-30 2004-12-03 Qaxu Technology Inc. Homeostatic flying hovercraft
US6732972B2 (en) 2002-09-13 2004-05-11 Frank S. Malvestuto, Jr. High-lift, low-drag, stall-resistant airfoil
US7149611B2 (en) * 2003-02-21 2006-12-12 Lockheed Martin Corporation Virtual sensor mast
US7857253B2 (en) 2003-10-27 2010-12-28 Urban Aeronautics Ltd. Ducted fan VTOL vehicles
US7556219B2 (en) * 2004-02-24 2009-07-07 Swift Engineering, Inc. Unmanned aerial vehicle and launch assembly
US20050230525A1 (en) * 2004-03-30 2005-10-20 Paterro Von F C Craft with magnetically curved space
US7398946B1 (en) 2004-10-04 2008-07-15 United States Of America As Represented By The Secretary Of The Air Force Power line sentry charging
US7318564B1 (en) 2004-10-04 2008-01-15 The United States Of America As Represented By The Secretary Of The Air Force Power line sentry charging
US7543780B1 (en) 2004-10-04 2009-06-09 The United States Of America As Represented By The Secretary Of The Air Force Unmanned air vehicle transmission line docking surveillance
CA2605111A1 (fr) * 2005-01-10 2006-07-13 Raphael Yoeli Vehicules adav a soufflantes canalisees
US7267300B2 (en) * 2005-02-25 2007-09-11 The Boeing Company Aircraft capable of vertical and short take-off and landing
US7658346B2 (en) 2005-02-25 2010-02-09 Honeywell International Inc. Double ducted hovering air-vehicle
US7946528B2 (en) * 2005-04-15 2011-05-24 Urban Aeronautics, Ltd. Flight control system especially suited for VTOL vehicles
US7516689B2 (en) * 2005-05-26 2009-04-14 Lockheed Martin Corporation Optimized weapons release management system
US7717368B2 (en) 2005-06-07 2010-05-18 Urban Aeronautics Ltd. Apparatus for generating horizontal forces in aerial vehicles and related method
US7581696B2 (en) * 2005-11-09 2009-09-01 Morgan Aircraft, Llc Aircraft attitude control configuration
US7712701B1 (en) 2006-02-10 2010-05-11 Lockheed Martin Corporation Unmanned aerial vehicle with electrically powered, counterrotating ducted rotors
EP2054300A2 (fr) 2006-03-01 2009-05-06 Urban Aeronautics Ltd. Disposition d'aubes à effet de sol
US7841563B2 (en) * 2006-03-27 2010-11-30 Honeywell International Inc. Ducted fan air data system
US8868256B2 (en) * 2006-05-15 2014-10-21 Honeywell International Inc. Relative navigation for aerial refueling of an unmanned aerial vehicle
US7438259B1 (en) * 2006-08-16 2008-10-21 Piasecki Aircraft Corporation Compound aircraft control system and method
US8833692B2 (en) 2006-11-27 2014-09-16 Urban Aeronautics Ltd. Wall effects on VTOL vehicles
US7873444B1 (en) 2007-02-08 2011-01-18 Lockheed Martin Corporation Controlling movement of an unmanned vehicle
GB0707512D0 (en) 2007-04-18 2007-05-30 Go Science Ltd Annular airborne vehicle
US8496200B2 (en) 2007-05-02 2013-07-30 Urban Aeronautics Ltd. Control flows and forces in VTOL vehicles
US8061119B2 (en) 2007-11-29 2011-11-22 United Technologies Corporation Actuation mechanism for a convertible gas turbine propulsion system
US8511058B2 (en) * 2007-11-29 2013-08-20 United Technologies Corporation Convertible gas turbine propulsion system
EP2251259B1 (fr) * 2008-02-05 2014-03-26 Kiyoko Inamori Corps volant
US8162256B2 (en) * 2008-03-19 2012-04-24 Honeywell International Inc. Launch and capture systems for vertical take-off and landing (VTOL) vehicles
US8220737B2 (en) * 2008-06-06 2012-07-17 Frontline Aerospace, Inc. VTOL aerial vehicle
US8123460B2 (en) * 2008-07-23 2012-02-28 Honeywell International Inc. UAV pod cooling using integrated duct wall heat transfer
US8387911B2 (en) * 2008-07-25 2013-03-05 Honeywell International Inc. Ducted fan core for use with an unmanned aerial vehicle
EP2318273A4 (fr) 2008-09-02 2017-09-06 Urban Aeronautics Ltd. Véhicule vtol à rotors coaxialement basculés ou basculants
US8070092B2 (en) 2008-10-31 2011-12-06 Honeywell International Inc. Noise-suppressing strut support system for an unmanned aerial vehicle
US8328130B2 (en) * 2008-12-08 2012-12-11 Honeywell International Inc. Vertical take off and landing unmanned aerial vehicle airframe structure
US20100193643A1 (en) * 2008-12-31 2010-08-05 Sidelkovskiy Dmitriy B Lift fan system
WO2011139316A2 (fr) * 2009-12-29 2011-11-10 Rolls-Royce North American Technologies, Inc. Dispositif d'élévation verticale pour un avion
US8590828B2 (en) * 2010-02-24 2013-11-26 Robert Marcus Rotocraft
WO2011159374A2 (fr) * 2010-03-08 2011-12-22 The Penn State Research Foundation Ventilateur à double conduite
CN101879945A (zh) * 2010-07-05 2010-11-10 南昌航空大学 电动倾转旋翼无人机
US8876038B2 (en) 2010-10-05 2014-11-04 Urban Aeronautics Ltd. Ducted fan for VTOL vehicles with system and method to reduce roll moments
US9004393B2 (en) 2010-10-24 2015-04-14 University Of Kansas Supersonic hovering air vehicle
US9987506B2 (en) 2010-12-15 2018-06-05 Robert Marcus UAV—or personal flying device—delivered deployable descent device
US9784171B2 (en) 2011-06-30 2017-10-10 Orbital Australia Pty Limited Air cooling system for an unmanned aerial vehicle
US8960592B1 (en) 2011-07-19 2015-02-24 D. Anthony Windisch VTOL propulsion for aircraft
US8905351B2 (en) * 2011-11-01 2014-12-09 Vanguard Defense Industries, Llc Airframe
US9132914B2 (en) 2012-07-30 2015-09-15 Sikorsky Aircraft Corporation Low drag high restoring moment airfoils
US9011250B2 (en) 2012-10-05 2015-04-21 Qfo Labs, Inc. Wireless communication system for game play with multiple remote-control flying craft
EP2738091B1 (fr) 2012-11-30 2015-07-22 AIRBUS HELICOPTERS DEUTSCHLAND GmbH Véhicule aérien pour décollage et atterrissage vertical (VTOL) et procédé de fonctionnement d'un tel véhicule aérien VTOL
US8907846B2 (en) * 2013-02-05 2014-12-09 King Fahd University Of Petroleum And Minerals Single-antenna direction finding system for multi-rotor platforms
US9290269B2 (en) 2013-03-15 2016-03-22 CyPhy Works, Inc. Spooler for unmanned aerial vehicle system
CN105121188B (zh) 2013-03-15 2019-03-15 特力飞车股份有限公司 具有垂直起飞和固定翼巡航能力的组合的飞行/行驶车辆
US9321529B1 (en) 2013-04-09 2016-04-26 The United States Of America, As Represented By The Secretary Of The Navy Hybrid mobile buoy for persistent surface and underwater exploration
CN103231803A (zh) * 2013-04-27 2013-08-07 哈尔滨飞机工业集团有限责任公司 一种小型无人飞行器构型
CN110979668B (zh) * 2014-03-13 2023-05-30 多韧系统有限责任公司 无人机配置和用于无人机内燃机的电池增大，以及相关的系统和方法
US9457900B1 (en) 2014-04-07 2016-10-04 The United States Of America, As Represented By The Secretary Of The Navy Multirotor mobile buoy for persistent surface and underwater exploration
US10107196B2 (en) 2014-08-08 2018-10-23 Thomas International, Inc. Adjustable size inlet system
WO2016053408A1 (fr) * 2014-10-01 2016-04-07 Sikorsky Aircraft Corporation Variation de signature acoustique d'aéronef mettant en oeuvre un embrayage
US20160101852A1 (en) * 2014-10-09 2016-04-14 Yun Jiang Annular ducted lift fan VTOL aircraft
WO2016065343A1 (fr) 2014-10-23 2016-04-28 Dezso Molnar Véhicule aérien sans pilote doté d'éclairage et refroidissement de ce dernier
US10040544B2 (en) * 2015-01-02 2018-08-07 Jesse Antoine Marcel Multi-rotor personal air vehicle with a central lifting fan
US9836053B2 (en) 2015-01-04 2017-12-05 Zero Zero Robotics Inc. System and method for automated aerial system operation
US10220954B2 (en) * 2015-01-04 2019-03-05 Zero Zero Robotics Inc Aerial system thermal control system and method
US10126745B2 (en) 2015-01-04 2018-11-13 Hangzhou Zero Zero Technology Co., Ltd. System and method for automated aerial system operation
US10358214B2 (en) * 2015-01-04 2019-07-23 Hangzhou Zero Zro Technology Co., Ltd. Aerial vehicle and method of operation
US10719080B2 (en) 2015-01-04 2020-07-21 Hangzhou Zero Zero Technology Co., Ltd. Aerial system and detachable housing
US10059437B2 (en) 2015-01-08 2018-08-28 Robert Stanley Cooper Multi-rotor safety shield
KR20160150496A (ko) 2015-06-22 2016-12-30 문창근 무인 비행체
JP6965160B2 (ja) 2015-09-15 2021-11-10 住友建機株式会社 ショベル
US9815552B1 (en) 2015-09-21 2017-11-14 Amazon Technologies, Inc. Unmanned aerial vehicle with center mounted fuselage and closed wing
US10258888B2 (en) 2015-11-23 2019-04-16 Qfo Labs, Inc. Method and system for integrated real and virtual game play for multiple remotely-controlled aircraft
US10460717B2 (en) * 2015-12-18 2019-10-29 Amazon Technologies, Inc. Carbon nanotube transducers on propeller blades for sound control
US10933988B2 (en) 2015-12-18 2021-03-02 Amazon Technologies, Inc. Propeller blade treatments for sound control
US10696395B2 (en) 2015-12-28 2020-06-30 Wet Tethered unmanned aerial system
WO2017117296A1 (fr) 2015-12-28 2017-07-06 Dezso Molnar Affichages lumineux et d'eau comprenant un système aérien sans pilote
WO2017117298A1 (fr) 2015-12-28 2017-07-06 Dezso Molnar Système aérien sans pilote comportant un écran transportable
KR102615981B1 (ko) 2016-01-29 2023-12-19 스미토모 겐키 가부시키가이샤 쇼벨 및 쇼벨의 주위를 비행하는 자율식 비행체
WO2017180855A1 (fr) 2016-04-15 2017-10-19 Terrafugia, Inc. Ensemble levier de changement de vitesses électronique pour un véhicule volant et de conduite à deux modes
US10435144B2 (en) 2016-04-24 2019-10-08 Hangzhou Zero Zero Technology Co., Ltd. Aerial system propulsion assembly and method of use
CN107323666B (zh) * 2016-04-28 2020-11-06 深圳富泰宏精密工业有限公司 无人飞行器
EP3448753B1 (fr) 2016-04-29 2022-07-13 United Parcel Service Of America, Inc. Système de ramassage et de livraison par véhicules aériens sans pilote
US10730626B2 (en) 2016-04-29 2020-08-04 United Parcel Service Of America, Inc. Methods of photo matching and photo confirmation for parcel pickup and delivery
US10714069B1 (en) 2016-05-03 2020-07-14 Wing Aviation Llc Systems and methods for tuning propeller noise
US11608173B2 (en) 2016-07-01 2023-03-21 Textron Innovations Inc. Aerial delivery systems using unmanned aircraft
US10220944B2 (en) 2016-07-01 2019-03-05 Bell Helicopter Textron Inc. Aircraft having manned and unmanned flight modes
US10737765B2 (en) 2016-07-01 2020-08-11 Textron Innovations Inc. Aircraft having single-axis gimbal mounted propulsion systems
US10625853B2 (en) 2016-07-01 2020-04-21 Textron Innovations Inc. Automated configuration of mission specific aircraft
US10633088B2 (en) 2016-07-01 2020-04-28 Textron Innovations Inc. Aerial imaging aircraft having attitude stability during translation
US10597164B2 (en) 2016-07-01 2020-03-24 Textron Innovations Inc. Aircraft having redundant directional control
US11142311B2 (en) 2016-07-01 2021-10-12 Textron Innovations Inc. VTOL aircraft for external load operations
US10315761B2 (en) 2016-07-01 2019-06-11 Bell Helicopter Textron Inc. Aircraft propulsion assembly
US10618647B2 (en) 2016-07-01 2020-04-14 Textron Innovations Inc. Mission configurable aircraft having VTOL and biplane orientations
US10737778B2 (en) 2016-07-01 2020-08-11 Textron Innovations Inc. Two-axis gimbal mounted propulsion systems for aircraft
US10981661B2 (en) 2016-07-01 2021-04-20 Textron Innovations Inc. Aircraft having multiple independent yaw authority mechanisms
US10011351B2 (en) * 2016-07-01 2018-07-03 Bell Helicopter Textron Inc. Passenger pod assembly transportation system
US10232950B2 (en) 2016-07-01 2019-03-19 Bell Helicopter Textron Inc. Aircraft having a fault tolerant distributed propulsion system
US11124289B2 (en) 2016-07-01 2021-09-21 Textron Innovations Inc. Prioritizing use of flight attitude controls of aircraft
US10501193B2 (en) 2016-07-01 2019-12-10 Textron Innovations Inc. Aircraft having a versatile propulsion system
US11084579B2 (en) 2016-07-01 2021-08-10 Textron Innovations Inc. Convertible biplane aircraft for capturing drones
US10633087B2 (en) 2016-07-01 2020-04-28 Textron Innovations Inc. Aircraft having hover stability in inclined flight attitudes
US10870487B2 (en) 2016-07-01 2020-12-22 Bell Textron Inc. Logistics support aircraft having a minimal drag configuration
US10227133B2 (en) 2016-07-01 2019-03-12 Bell Helicopter Textron Inc. Transportation method for selectively attachable pod assemblies
US10214285B2 (en) 2016-07-01 2019-02-26 Bell Helicopter Textron Inc. Aircraft having autonomous and remote flight control capabilities
US11104446B2 (en) 2016-07-01 2021-08-31 Textron Innovations Inc. Line replaceable propulsion assemblies for aircraft
US10604249B2 (en) 2016-07-01 2020-03-31 Textron Innovations Inc. Man portable aircraft system for rapid in-situ assembly
US10183746B2 (en) 2016-07-01 2019-01-22 Bell Helicopter Textron Inc. Aircraft with independently controllable propulsion assemblies
US11027837B2 (en) 2016-07-01 2021-06-08 Textron Innovations Inc. Aircraft having thrust to weight dependent transitions
CN106184780B (zh) * 2016-07-20 2018-08-17 南昌华梦达航空科技发展有限公司 一种涵道式共轴双桨无人飞行器
CN106628138B (zh) * 2016-11-21 2024-01-23 深圳市特研创新科技有限公司 一种太阳能供电垂直升降无人机
CN108263607B (zh) * 2016-12-30 2024-04-12 珠海天空速递有限公司 具有复合式升力部件的无人航空器
WO2018134677A1 (fr) 2017-01-23 2018-07-26 Hangzhou Zero Technology Co., Ltd Système à caméras multiples et procédé d'utilisation associé
CN108622404B (zh) * 2017-03-17 2022-05-24 株式会社理光 飞行器以及飞行系统
US10329014B2 (en) 2017-05-26 2019-06-25 Bell Helicopter Textron Inc. Aircraft having M-wings
US10351232B2 (en) 2017-05-26 2019-07-16 Bell Helicopter Textron Inc. Rotor assembly having collective pitch control
US10661892B2 (en) 2017-05-26 2020-05-26 Textron Innovations Inc. Aircraft having omnidirectional ground maneuver capabilities
US10442522B2 (en) 2017-05-26 2019-10-15 Bell Textron Inc. Aircraft with active aerosurfaces
US10618646B2 (en) 2017-05-26 2020-04-14 Textron Innovations Inc. Rotor assembly having a ball joint for thrust vectoring capabilities
US10775792B2 (en) 2017-06-13 2020-09-15 United Parcel Service Of America, Inc. Autonomously delivering items to corresponding delivery locations proximate a delivery route
CN107380422A (zh) * 2017-07-27 2017-11-24 刘超 一种消防涵道无人直升机
JP6566585B2 (ja) * 2017-09-26 2019-08-28 株式会社Ａ．Ｌ．Ｉ．Ｔｅｃｈｎｏｌｏｇｉｅｓ 飛行体
US10796423B2 (en) 2017-09-29 2020-10-06 United Parcel Service Of America, Inc. Predictive parcel damage identification, analysis, and mitigation
US10583924B2 (en) * 2017-10-01 2020-03-10 Petru A. Simionescu Vertical takeoff and landing unmanned aerial vehicle (VTOL-UAV)
KR102077291B1 (ko) * 2017-10-27 2020-02-13 국방과학연구소 비행체 및 그 제어 방법
US10719705B2 (en) 2018-01-03 2020-07-21 Qualcomm Incorporated Adjustable object avoidance proximity threshold based on predictability of the environment
US10803759B2 (en) * 2018-01-03 2020-10-13 Qualcomm Incorporated Adjustable object avoidance proximity threshold based on presence of propeller guard(s)
US10717435B2 (en) 2018-01-03 2020-07-21 Qualcomm Incorporated Adjustable object avoidance proximity threshold based on classification of detected objects
US10636314B2 (en) 2018-01-03 2020-04-28 Qualcomm Incorporated Adjusting flight parameters of an aerial robotic vehicle based on presence of propeller guard(s)
US10720070B2 (en) 2018-01-03 2020-07-21 Qualcomm Incorporated Adjustable object avoidance proximity threshold of a robotic vehicle based on presence of detected payload(s)
US11148820B1 (en) * 2018-02-19 2021-10-19 Parallel Flight Technologies, Inc. System defining a hybrid power unit for thrust generation in an aerial vehicle and method for controlling the same
US20190256202A1 (en) 2018-02-19 2019-08-22 Parallel Flight Technologies, Inc. Method and apparatus for lifting a payload
US11712637B1 (en) 2018-03-23 2023-08-01 Steven M. Hoffberg Steerable disk or ball
JP6731604B2 (ja) * 2018-03-31 2020-07-29 中松　義郎 高速ドローン等航空機
US11767097B2 (en) 2018-04-17 2023-09-26 University Of Kansas Acoustic noise suppressing ducted fan propulsor mounting arrangement and treatments
EP3830521A4 (fr) 2018-07-27 2022-04-27 Airborne Motor Works Inc. Procédé et appareil de gyroscope à volant divisé produisant une poussée
US11230386B2 (en) 2018-08-26 2022-01-25 Airborne Motor Works Inc. Electromagnetic gyroscopic stabilizing propulsion system method and apparatus
US11163302B2 (en) 2018-09-06 2021-11-02 Amazon Technologies, Inc. Aerial vehicle propellers having variable force-torque ratios
JP2022523652A (ja) 2019-01-20 2022-04-26 エアーボーン モーターズ，エルエルシー 医療用スタビライザハーネスの方法および装置
US20210009263A1 (en) * 2019-07-12 2021-01-14 Dotterel Technologies Limited Rotor system
KR102716432B1 (ko) * 2019-08-12 2024-10-11 한화에어로스페이스 주식회사 수직 이착륙기용 상승 장치
US11262750B2 (en) * 2019-09-27 2022-03-01 Textron Innovations Inc. System and method for controlling tiltrotor aircraft
US11312491B2 (en) 2019-10-23 2022-04-26 Textron Innovations Inc. Convertible biplane aircraft for autonomous cargo delivery
CN110683041A (zh) * 2019-10-24 2020-01-14 张红艳 一种碟状飞行器
JP7104427B2 (ja) * 2020-02-27 2022-07-21 義郎 中松 翼付ドローン
EP4111053A4 (fr) 2020-02-28 2024-03-06 Airborne Motor Works Inc. Procédé et appareil pour gyroscope de turbo-générateur à limitation de frottement
US11661183B2 (en) 2020-03-16 2023-05-30 D. Anthony Windisch Small light vertical take-off and landing capable delta wing aircraft
US11174020B2 (en) 2020-03-28 2021-11-16 Textron Innovations Inc. Fluidic roll control systems for use in forward flight
US11530035B2 (en) 2020-08-27 2022-12-20 Textron Innovations Inc. VTOL aircraft having multiple wing planforms
US11319064B1 (en) 2020-11-04 2022-05-03 Textron Innovations Inc. Autonomous payload deployment aircraft
EP4265518B1 (fr) 2020-12-15 2025-04-16 Honda Motor Co., Ltd. Aéronef
US11630467B2 (en) 2020-12-23 2023-04-18 Textron Innovations Inc. VTOL aircraft having multifocal landing sensors
US11858632B2 (en) 2020-12-28 2024-01-02 Parallel Flight Technologies, Inc. System defining a hybrid power unit for thrust generation in an aerial vehicle and method for controlling the same
US11299287B1 (en) 2021-06-29 2022-04-12 Beta Air, Llc Methods and systems for orienting a thrust propulsor in response to a failure event of a vertical take-off and landing aircraft
US12084200B2 (en) 2021-11-03 2024-09-10 Textron Innovations Inc. Ground state determination systems for aircraft
CN114056558A (zh) * 2021-11-22 2022-02-18 李博文 一种垂直起降电动飞行器
US11932387B2 (en) 2021-12-02 2024-03-19 Textron Innovations Inc. Adaptive transition systems for VTOL aircraft
US11643207B1 (en) 2021-12-07 2023-05-09 Textron Innovations Inc. Aircraft for transporting and deploying UAVs
US11673662B1 (en) 2022-01-05 2023-06-13 Textron Innovations Inc. Telescoping tail assemblies for use on aircraft
US12103673B2 (en) 2022-01-10 2024-10-01 Textron Innovations Inc. Payload saddle assemblies for use on aircraft
JP2023146695A (ja) * 2022-03-29 2023-10-12 株式会社石川エナジーリサーチ 飛行装置
CN114771832B (zh) * 2022-05-31 2024-12-24 浙江大学 一种用于海上风机运维的自供能跨介质无人机
EP4568895A1 (fr) * 2022-08-09 2025-06-18 Pete Bitar Dispositif de livraison par drone compact et léger appelé système de drone à réacteur électrique arcspear ayant un système de propulsion à air canalisé électrique et étant relativement difficile à suivre en vol
CN115848666A (zh) * 2022-12-05 2023-03-28 无锡学院 一种跨界质飞行机械臂
JPWO2024142220A1 (fr) * 2022-12-27 2024-07-04
JP7782947B1 (ja) * 2025-07-10 2025-12-09 正和 高群 リフトファン垂直離着陸推進機

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5150857A (en) 1991-08-13 1992-09-29 United Technologies Corporation Shroud geometry for unmanned aerial vehicles
US5152478A (en) 1990-05-18 1992-10-06 United Technologies Corporation Unmanned flight vehicle including counter rotating rotors positioned within a toroidal shroud and operable to provide all required vehicle flight controls
US5226350A (en) 1992-06-22 1993-07-13 United Technologies Corporation Drive train assembly for a rotor assembly having ducted, coaxial counter-rotating rotors
US5277380A (en) 1992-06-22 1994-01-11 United Technologies Corporation Toroidal fuselage structure for unmanned aerial vehicles having ducted, coaxial, counter-rotating rotors
US5364230A (en) 1992-06-22 1994-11-15 United Technologies Corporation Rotor blade subassembly for a rotor assembly having ducted, coaxial counter-rotating rotors
US5419513A (en) 1993-05-11 1995-05-30 United Technologies Corporation Ancillary aerodynamic structures for an unmanned aerial vehicle having ducted, coaxial counter-rotating rotors
US5890441A (en) * 1995-09-07 1999-04-06 Swinson Johnny Horizontal and vertical take off and landing unmanned aerial vehicle

Family Cites Families (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2461435A (en) 1945-04-19 1949-02-08 Charles A Neumann Fluid propelled and controlled aircraft
US2567392A (en) 1948-06-28 1951-09-11 Naught Harold Fluid sustained aircraft
US2880945A (en) 1955-11-17 1959-04-07 Joseph H Crane Aircraft
US3002709A (en) 1955-12-19 1961-10-03 C L Cochran And Associates Aircraft adapted for vertical ascent and descent
US2996269A (en) * 1956-04-12 1961-08-15 Charles B Bolton Helicopter with counter-rotating propeller
US2968453A (en) 1958-01-13 1961-01-17 Edward F Golding Ducted fan aircraft
US2988301A (en) * 1958-10-28 1961-06-13 Charles J Fletcher Ducted fan aircraft
US3083935A (en) * 1962-01-15 1963-04-02 Piasecki Aircraft Corp Convertible aircraft
DE1962058A1 (de) 1969-12-11 1971-06-16 Mueller Mahn Werner Schwimm- und flugfaehiges Mehrzweckauto
GB1331655A (en) 1971-04-01 1973-09-26 Pedrick A P Design of saucer shaped flying machines
US3752417A (en) 1972-06-23 1973-08-14 P Lagace Aircraft using lifting fans
US4196877A (en) 1977-06-15 1980-04-08 Mutrux Jean L Aircraft
US4796836A (en) 1985-02-28 1989-01-10 Dieter Schatzmayr Lifting engine for VTOL aircrafts
US5035377A (en) 1985-02-28 1991-07-30 Technolizenz Establishment Free standing or aircraft lift generator
US4828203A (en) * 1986-12-16 1989-05-09 Vulcan Aircraft Corporation Vertical/short take-off and landing aircraft
US5039031A (en) 1989-05-23 1991-08-13 Valverde Rene L Turbocraft
WO1992001603A1 (fr) 1990-07-25 1992-02-06 Sadleir Vtol Aircraft Co. Pty. Ltd. Unite de propulsion pour avion a decollage vertical et a atterrissage vertical
US5149012A (en) 1991-09-10 1992-09-22 Valverde Rene L Turbocraft
US5178344A (en) 1991-09-13 1993-01-12 Vaclav Dlouhy VTOL aircraft
US5351913A (en) 1992-06-22 1994-10-04 United Technologies Corporation Coaxial transmission/center hub subassembly for a rotor assembly having ducted, coaxial counter-rotating rotors
RU2012511C1 (ru) 1993-08-31 1994-05-15 Фирма "ВИСТ" Комбинированный летательный аппарат
RU2012512C1 (ru) 1993-09-07 1994-05-15 Фирма "ВИСТ" Комбинированный летательный аппарат
US5421538A (en) 1993-09-29 1995-06-06 Vassa (Suratano Thienphropa); John VTOL aircraft
US5575438A (en) 1994-05-09 1996-11-19 United Technologies Corporation Unmanned VTOL ground surveillance vehicle

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5152478A (en) 1990-05-18 1992-10-06 United Technologies Corporation Unmanned flight vehicle including counter rotating rotors positioned within a toroidal shroud and operable to provide all required vehicle flight controls
US5150857A (en) 1991-08-13 1992-09-29 United Technologies Corporation Shroud geometry for unmanned aerial vehicles
US5226350A (en) 1992-06-22 1993-07-13 United Technologies Corporation Drive train assembly for a rotor assembly having ducted, coaxial counter-rotating rotors
US5277380A (en) 1992-06-22 1994-01-11 United Technologies Corporation Toroidal fuselage structure for unmanned aerial vehicles having ducted, coaxial, counter-rotating rotors
US5364230A (en) 1992-06-22 1994-11-15 United Technologies Corporation Rotor blade subassembly for a rotor assembly having ducted, coaxial counter-rotating rotors
US5419513A (en) 1993-05-11 1995-05-30 United Technologies Corporation Ancillary aerodynamic structures for an unmanned aerial vehicle having ducted, coaxial counter-rotating rotors
US5890441A (en) * 1995-09-07 1999-04-06 Swinson Johnny Horizontal and vertical take off and landing unmanned aerial vehicle

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
"US MARINES GET MESSAGE WITH CYPER II", FLIGHT INTERNATIONAL,GB,REED BUSINESS INFORMATION, HAYWARDS HEATH, vol. 156, no. 4696, 29 September 1999 (1999-09-29), pages 19, XP000850045, ISSN: 0015-3710 *
GEELONG: "AUSTRALIA PLANS P-3C UPGRADE EXPORTS", AVIATION WEEK AND SPACE TECHNOLOGY,US,MCGRAW-HILL INC. NEW YORK, vol. 146, no. 10, 10 March 1997 (1997-03-10), pages 68, XP000680655, ISSN: 0005-2175 *

Cited By (38)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2379915A (en) * 2001-07-03 2003-03-26 Bae Systems Plc Unmanned aerial vehicle (UAV) with detachable wings
GB2379915B (en) * 2001-07-03 2004-11-10 Bae Systems Plc An aircraft
US6817573B2 (en) 2001-07-03 2004-11-16 Bae Systems Plc Aircraft
US6431494B1 (en) 2001-07-17 2002-08-13 Sikorsky Aircraft Corporation Flight control system for a hybrid aircraft in the roll axis
US6478262B1 (en) 2001-07-17 2002-11-12 Sikorsky Aircraft Corporation Flight control system for a hybrid aircraft in the yaw axis
JP2004268640A (ja) * 2003-03-05 2004-09-30 Toyota Motor Corp 小型飛行装置
US12130619B2 (en) 2008-02-12 2024-10-29 Drone-Control, Llc Radio controlled aircraft, remote controller and methods for use therewith
US11281205B2 (en) 2008-02-12 2022-03-22 Drone-Control, Llc Radio controlled aircraft, remote controller and methods for use therewith
US10095226B1 (en) 2008-02-12 2018-10-09 Drone-Control, Llc Radio controlled aircraft, remote controller and methods for use therewith
US10248117B2 (en) 2008-02-12 2019-04-02 Drone-Control, Llc Radio controlled aircraft, remote controller and methods for use therewith
US8727266B2 (en) 2008-05-30 2014-05-20 Gilo Industries Limited Flying machine comprising twin contra-rotating vertical axis propellers
CN101746507A (zh) * 2008-12-12 2010-06-23 霍尼韦尔国际公司 用于函道风扇式无人空中系统的混合动力
US10814966B2 (en) 2015-05-25 2020-10-27 Dotterel Technologies Limited Shroud for an aircraft
EP3112261A1 (fr) * 2015-06-30 2017-01-04 Kabushiki Kaisha TOPCON Système de détection de zone étendue, procédé de détection de vol et support non transitoire lisible par ordinateur stockant un programme de système de détection de zone étendue
US9709993B2 (en) 2015-06-30 2017-07-18 Kabushiki Kaisha Topcon Wide area sensing system, in-flight detection method, and non-transitory computer readable medium storing program of wide area sensing system
US11052998B2 (en) 2015-12-21 2021-07-06 Airbus Helicopters Deutschland GmbH Multirotor electric aircraft with redundant security architecture
GB2555439A (en) * 2016-10-27 2018-05-02 Mono Aerospace Ip Ltd Vertical take-off and landing aircraft and control method
WO2018078388A1 (fr) * 2016-10-27 2018-05-03 Mono Aerospace Ip Ltd Aéronef à décollage et atterrissage verticaux et procédé de commande
RU2662600C2 (ru) * 2016-11-30 2018-07-26 Алексей Сергеевич Вишневский Автолет (летающий автомобиль) (варианты)
EP3354566A1 (fr) * 2017-01-26 2018-08-01 AIRBUS HELICOPTERS DEUTSCHLAND GmbH Unité de propulsion avec deux rotors et un carénage
US10737766B2 (en) 2017-01-26 2020-08-11 Airbus Helicopters Deutschland GmbH Thrust producing unit with at least two rotor assemblies and a shrouding
US11220325B2 (en) 2017-02-27 2022-01-11 Airbus Helicopters Deutschland GmbH Thrust producing unit with at least two rotor assemblies and a shrouding
US11097828B2 (en) 2017-07-24 2021-08-24 Dotterel Technologies Limited Shroud
CN108100252A (zh) * 2018-01-19 2018-06-01 北京韩品航通科技发展有限公司 一种三桨涵道式倾转双模飞行无人机
CN108100252B (zh) * 2018-01-19 2023-09-05 北京韩品航通科技发展有限公司 一种三桨涵道式倾转双模飞行无人机
CN110294116A (zh) * 2018-03-22 2019-10-01 极光飞行科学公司 用于降低螺旋桨噪声的系统和方法
CN110294116B (zh) * 2018-03-22 2023-12-12 极光飞行科学公司 用于降低螺旋桨噪声的系统和方法
US11721352B2 (en) 2018-05-16 2023-08-08 Dotterel Technologies Limited Systems and methods for audio capture
WO2021053407A1 (fr) * 2019-09-18 2021-03-25 Uab "Sg Consulting Baltics&By" Aéronef à hélices multiples
RU197835U1 (ru) * 2019-12-27 2020-06-02 Федеральное государственное унитарное предприятие "Центральный аэрогидродинамический институт имени профессора Н.Е. Жуковского" (ФГУП "ЦАГИ") Беспилотный летательный аппарат вертикального взлёта и посадки
GB2599901A (en) * 2020-10-09 2022-04-20 Blue Bear Systems Res Ltd Electric ducted fan propulsor
US12049297B2 (en) 2020-10-09 2024-07-30 Greenjets Limited Electric ducted fan propulsor
WO2022074405A1 (fr) 2020-10-09 2022-04-14 Blue Bear Systems Research Limited Propulseur à soufflante carénée électrique
GB2599901B (en) * 2020-10-09 2025-01-15 Greenjets Ltd Electric ducted fan propulsor
CN114735218A (zh) * 2022-04-12 2022-07-12 江苏信博建设项目管理有限公司 一种基于无人机的三维地形测绘装置
US12304626B2 (en) 2022-10-28 2025-05-20 Airbus Helicopters Deutschland GmbH Rotorcraft with a ducted tail rotor supported by a stator
RU2836223C1 (ru) * 2024-07-23 2025-03-11 Федеральное государственное бюджетное учреждение "Национальный исследовательский центр "Институт имени Н.Е. Жуковского" Вентиляторный движитель с электроприводом
CN118637086A (zh) * 2024-08-01 2024-09-13 中国人民解放军陆军指挥学院 单倾斜操纵的共轴双旋翼无人机

Also Published As

Publication number Publication date
JP2002542116A (ja) 2002-12-10
EP1173360A1 (fr) 2002-01-23
IL146074A0 (en) 2002-07-25
US6270038B1 (en) 2001-08-07
AU5722100A (en) 2000-11-10

Similar Documents

Publication Publication Date Title
US6270038B1 (en) Unmanned aerial vehicle with counter-rotating ducted rotors and shrouded pusher-prop
EP1175336B1 (fr) Procede de reduction du moment de cabrage dans un vehicule aerien telepilote a rotor carene
US11208203B2 (en) Vertical take-off and landing aircraft
US11505314B2 (en) Vertical takeoff and landing aircraft with tiltable rotors
EP0661206B1 (fr) Véhicule aérien non habité à décollage et atterrissage vertical et vol de croisière horizontal
US10287011B2 (en) Air vehicle
US8256704B2 (en) Vertical/short take-off and landing aircraft
US9475575B2 (en) Convertible compounded rotorcraft
US5419513A (en) Ancillary aerodynamic structures for an unmanned aerial vehicle having ducted, coaxial counter-rotating rotors
US7410122B2 (en) VTOL UAV with lift fans in joined wings
EP2738091B1 (fr) Véhicule aérien pour décollage et atterrissage vertical (VTOL) et procédé de fonctionnement d'un tel véhicule aérien VTOL
WO2005066020A1 (fr) Aeronef a rotors basculants
US11919633B2 (en) Convertiplane
US20240417073A1 (en) Vertical take-off and landing aircraft
CN120752178A (zh) Vtol飞行器

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AU BR IL JP RU TR

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): AT BE CH CY DE DK ES FI FR GB GR IE IT LU MC NL PT SE

121 Ep: the epo has been informed by wipo that ep was designated in this application
DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
WWE Wipo information: entry into national phase

Ref document number: 57221/00

Country of ref document: AU

ENP Entry into the national phase

Ref country code: JP

Ref document number: 2000 613701

Kind code of ref document: A

Format of ref document f/p: F

WWE Wipo information: entry into national phase

Ref document number: 2000942624

Country of ref document: EP

WWP Wipo information: published in national office

Ref document number: 2000942624

Country of ref document: EP

WWW Wipo information: withdrawn in national office

Ref document number: 2000942624

Country of ref document: EP